[특허]Using a bar code scanner to calibrate positioning of a robotic system

[미국특허] Using a bar code scanner to calibrate positioning of a robotic system 원문보기

IPC분류정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	G05B-019/18
출원번호	US-0290577 (1994-08-15)
발명자 / 주소	Kishi Gregory T. (Oro Valley AZ) Obeid Salaheddin H. (Tucson AZ)
출원인 / 주소	International Business Machines Corporation (Armonk NY 02)
인용정보	피인용 횟수 : 60 인용 특허 : 0

초록 ▼

A method and system are provided for teaching a robotic accessor the actual location of the center of targets in an automated storage and retrieval system, the actual locations being different from expected or nominal locations due to tolerances in parts and assembly. A bar code scanner, which can also be used to read the identity of items stored in the system, is used to locate and scan each target and transmit to a controller a message containing the time during each sweep of the scanning beam when one side of the target is first detected and the time during each sweep when a second, opposing side is detected. The processor calculates the physical center of the target based upon the transmitted times from one or more sweeps. The coordinates of the center are then stored and later used to accurately locate and retrieve an item stored in the system. An optional calibration technique compensates for any angular offset in the bar code scanner.

대표청구항 ▼

An automated storage and retrieval system, comprising: a bank of storage cells for retaining data storage units, each data storage unit having an identifying bar code label affixed thereto; a fiducial affixed to said bank of storage cells having a center with a known nominal location and first and second opposing sides; a system controller having a memory for storing an actual center of said fiducial; a data drive interconnected with said controller; an automated accessor, interconnected with said controller, capable of motion in orthogonal x and y directions and having a measurable position of Rx,y; and a bar code scanner affixed to said accessor interconnected with said controller to project a light beam towards said fiducial with a sweep range of Q0 to Q3, each sweep beginning at a time t0, wherein said bar code scanner: has a positional calibration mode wherein said controller determines the location of said fiducial relative to a reference position and a retrieval mode wherein said controller directs said bar code scanner to scan an identifying label of a data storage unit; comprises a timer, which is reset to the time t0 at the beginning of each beam sweep, for measuring the amount of time t1 between the beginning of each sweep t0 and the time when the beam crosses the first side of the fiducial and for measuring the amount of time t2 between the beginning of each sweep t0 and the time when the beam crosses the second side of the fiducial; and further comprises a transmitter for transmitting a message comprising t1 and t2 to said system controller.

이 특허를 인용한 특허 (60) 인용/피인용 타임라인 분석

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[미국특허] Using a bar code scanner to calibrate positioning of a robotic system 원문보기

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[미국특허] Using a bar code scanner to calibrate positioning of a robotic system 원문보기

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